Docking system including first and second optical transceivers for docking and related methods

ABSTRACT

A docking system may include a first device and a second device moveable relative to the first device. The first device may include a docking station, a first optical transceiver, and a first controller configured to operate the first optical transceiver to receive an optical beacon signal, and generate and transmit an optical guidance data signal based on the optical beacon signal. The second device may also include a propulsion system, and a second optical transceiver configured to transmit the optical beacon signal toward the first optical transceiver and receive the optical guidance data signal from the first optical transceiver. The second device may also include a second controller configured to operate the propulsion system based upon the optical guidance data signal to dock the second device to the docking station of the first device.

TECHNICAL FIELD

The present invention relates to the field of networks, and more particularly, to underwater communications networks and related methods.

BACKGROUND

A communications network is a group of nodes interconnected by links that are used to exchange messages between the nodes. The links may use a variety of technologies based on the methodologies of circuit switching, message switching, or packet switching, to pass messages and signals.

One type of network is a seafloor network. A seafloor network is typically used by industry, government and academia to observe and record measurements in the environment and transmit data over long distances. Traditional deployments of seafloor networks may be relatively expensive and typically involve manual connections on the surface and lowering the cable and equipment to the seafloor.

Relatively large cable ships are typically used along with a corresponding crew for cable installation operations. Both the ships and crew may be exposed to relatively harsh environmental conditions during deployments and installation operations.

PCT Application Publication No. WO 2016/200386 discloses a self-deploying and self-healing subsea network that includes one or more homing vehicles, one or more data repeaters, and one or more independent guidable homing systems configured to assist the homing vehicles in localization of and docking with the data repeaters. Data repeaters are deployed in a body of water and, at a predetermined time, a homing vehicle is released from a first data repeater and instructed to transit to and dock with a predetermined second data repeater. After docking, a network cable is operatively placed into communication between the first data repeater and the second data repeater.

U.S. Pat. No. 8,831,393 to Jung is directed to an unmanned underwater vehicle and device for connection of an optical waveguide cable to an unmanned underwater vehicle. More particularly, Jung discloses unmanned underwater vehicles that can be controlled from a carrier platform by an optical waveguide cable. The optical waveguide cable is to be connected to the underwater vehicle via a connecting device. The connecting device includes a connecting cable and connecting elements at the ends of the connecting cable for an optical waveguide cable at one end and for an unmanned underwater vehicle at the other end.

SUMMARY

A docking system may include a first device and a second device moveable relative to the first device. The first device may include a docking station, a first optical transceiver, and a first controller configured to operate the first optical transceiver to receive an optical beacon signal, and generate and transmit an optical guidance data signal based on the optical beacon signal. The second device may include a propulsion system, and a second optical transceiver configured to transmit the optical beacon signal toward the first optical transceiver and receive the optical guidance data signal from the first optical transceiver. The second device may also include a second controller configured to operate the propulsion system based upon the optical guidance data signal to dock the second device to the docking station of the first device.

The first controller may be configured to determine at least one of a range, a bearing, a velocity, a roll, and a pitch of the second device and generate the optical guidance data signal based thereon, for example. The second device may include a long-range navigation device coupled to the second controller.

The second controller may be configured to operate the propulsion system based upon the long-range navigation device. The long-range navigation device may include an inertial navigation system (INS), for example.

At least one of the first and second devices may include an optical cable storage device. The first and second optical transceivers may include first and second laser transceivers. The first and second laser transceivers may include first and second vertical cavity surface emitting laser transceivers, for example.

The second device may include an underwater vehicle. The second device may include a space vehicle. The second device may include a terrestrial vehicle, for example. The second device may include an airborne vehicle.

A method aspect is directed to a method of docking a second device moveable relative to a first device. The method may include using a first controller of the first device to operate a first optical transceiver of the first device to receive an optical beacon signal, and generate and transmit an optical guidance data signal based on the optical beacon signal. The method may also include using a second controller of the second device to cooperate with a second optical transceiver of the second device to transmit the optical beacon signal toward the first optical transceiver and receive the optical guidance data signal from the first optical transceiver, and operate a propulsion system of the second device based upon the optical guidance data signal to dock the second device to a docking station of the first device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an underwater communications network in accordance with an embodiment.

FIG. 2 is a schematic diagram of a node of FIG. 1.

FIG. 3 is a more detailed schematic diagram of a UUV of a node of FIG. 1.

FIG. 4A is a schematic diagram of an exemplary node configuration of an underwater communications network in accordance with an embodiment.

FIG. 4B is a schematic diagram of an exemplary node configuration of an underwater communications network in accordance with an embodiment.

FIG. 4C is a schematic diagram of an exemplary node configuration of an underwater communications network in accordance with an embodiment.

FIG. 5 is a schematic diagram of an exemplary node in accordance with an embodiment.

FIG. 6 is another schematic diagram of the exemplary node of FIG. 5.

FIG. 7 is a schematic diagram of a docking system in accordance with an embodiment.

FIG. 8 is a schematic block diagram of the docking system of FIG. 7.

FIG. 9 is a schematic diagram of an exemplary implementation of a docking system in accordance with an embodiment.

DETAILED DESCRIPTION

The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout, and prime notation is used to indicate similar elements in alternative embodiments.

Referring initially to FIGS. 1-3, an underwater communications network 20 includes spaced apart nodes 30 a-30 n on a bottom 22 of body of water 21, for example, a seafloor. While three nodes 30 a-30 n are illustrated, those skilled in the art will appreciate that there may be any number of nodes. The nodes may be deployed from the air, the surface or subsea, with manned or unmanned platforms, for example.

The underwater communications network 20 also includes fiber optic cabling 40 that connects the spaced apart nodes 30 a-30 n. The fiber optic cabling 40 may include one or more sensing optical fibers 41 a-41 n. For example, the fiber optic cabling 40 may include a sensor 44 or define a sensor so that it has sensing properties such that vibration, temperature, and pressure may be sensed. Moreover, a squeezing of the optical cabling 40 may change the properties of the cabling, which may be used to identify hazards or used as a basis for changing the topology of the underwater communications network 20 (e.g., by way of node locations).

Each node 30 a-30 n includes a frame 31 a-31 n and an unmanned underwater vehicle (UUV) 32 a-32 n carried by the frame after delivering a fiber optic cable 40 (e.g., which may be used for sensing) of the fiber optic cabling 40 along a navigation path from an adjacent node. The frame 31 a-31 n may include one or more docking stations 35 a-35 n for receiving the UUV 32 a-32 n therein. For example, the docking station 35 a-35 n may be in the form of a garage defined by the frame 31 a-31 n. The docking station 35 a-35 n may be in another form or location relative to the frame 31 a-31 n, for example, alongside the frame. Each UUV 32 a-32 n may be self-deployed or autonomous between adjacent nodes 30 a-30 n, for example, based upon coordinates of the nodes.

Each node 30 a-30 n also includes a node short-range navigation device 38 a-38 n carried by the frame 31 a-31 n. The node short-range navigation device 38 a-38 n may be any one or more of a short-range acoustic navigation device (e.g., acoustic pinger), short-range optical navigation device (e.g., optical reflector), and a short-range radio-frequency (RF) navigation beacon, for example. Of course the node short-range navigation device 38 a-38 n may include other and/or additional types of short-range navigation devices using different navigation techniques. Each UUV 32 a-32 n cooperates with the corresponding node short-range navigation device 38 a-38 n during an end portion of the navigation path adjacent the frame 31 a-31 n, for example, using a UUV short range navigation device 45 a-45 n. In other words, cooperation of the UUV and the node short-range navigation devices 38 a-38 n, 45 a-45 n guides each UUV 32 a-32 n into the docking station 35 a-35 n when it is in range.

Each node 30 a-30 n, and more particularly, each UUV 32 a-32 n may also include a node long-range navigation device 39 a. The node long-range navigation device 39 a is for the UUV and operates as the UUV travels along the navigation path, for example, from the adjacent node. Those skilled in the art will appreciate that the node long-range navigation device 39 a may guide the UUV 32 a-32 n along the navigation path, for example, using global positioning or other longer range navigation techniques, and up to an in-range position with the node short-range navigation device 38 a-38 n. In an embodiment, the node long-range navigation device 39 a may be used in conjunction with the node short-range navigation device 38 a-38 n during the end portion of the navigation path.

Each node 30 a-30 n may also include communications circuitry 33 a-33 n coupled to the fiber optic cabling 40, and more particularly, to respective ones of the fiber optic cables 40. The fiber optic cable 40 permits communication between adjacent nodes 30 a-30 n, and may perform sensing operations, as described above.

The communications circuitry 33 a-33 n of each node 30 a-30 n is powered by a power source 34 a-34 n. The power source 34 a-34 n may be a pre-equipped on-board power source, such as, for example, a battery, an external add-on source through an auxiliary connector, an inside (e.g., via a docking station 35 a-35 n) hardwired connection, and/or an inside (e.g., via the docking station) wireless connection for example. Of course, the power source 34 a-34 n may be another type of power source. The power source 34 a-34 n may also power either or both of the node short-range and long-range navigation devices 38 a-38 n, 39 a.

At least one node 30 a from among the spaced apart nodes 30 a-30 n includes a deployable electronic buoy 60 that is carried by the frame 31 a. The deployable electronic buoy 60 may be a deployable electronic sensor buoy, for example, and include one or more of a vibration sensor, a temperature sensor, and a pressure sensor. The deployable electronic buoy 60 may also be a deployable electronic wireless communications buoy, and include one or more wireless receivers and/or transmitters. More than one node 30 a-30 n may include a deployable electronic buoy 60.

In some embodiments, the node or nodes 30 a-30 n including the deployable electronic buoy 60 may include a winch 70 carried by the frame 31 a-31 n for controllably deploying the deployable electronic buoy to the surface 23 of the body of water 21. By being at the top or surface 23 of the body of water 21, the deployable electronic buoy 60 may wirelessly communicate based upon line-of-sight or with communications satellites, which may be prohibitive on the bottom 22 of the body of water or seafloor. The deployable electronic buoy 60, when communicating above the surface 23 of the body of water 21, may acquire instructions and/or position information that may be used for deployment of the underwater communications network 20 or UUVs 32 a-32 n, for example.

As will be appreciated by those skilled in the art, the spaced apart nodes 30 a-30 n may be considered lander nodes, and the fiber optic cabling 40 may be small, ultra-strong, highly-integrated (SUSHI) fiber optic cable links that are carried by the UUVs 32 a-32 n. The UUVs 32 a-32 n may be self-deploying or autonomous, for example. The links and nodes can be arranged to form various network configurations. Referring briefly to FIGS. 4A-4C, three exemplary network configurations of nodes, denoted by circles, and links, denoted by arrowed lines, are illustrated—point-to-point (FIG. 4A), redundant (FIG. 4B), and mesh (FIG. 4C)—the nodes of which may correspond to the spaced apart nodes 30 a-30 n and the links of which may correspond to the delivered fiber optic cables 40.

A single UUV 32 a-32 n is typically used to assemble each link, which may be performed by traversing from its home lander or node 30 a to an adjacent destination node 30 b or lander and paying out the fiber optic cable 40 along its path. Fiber optic cable terminations may be hardwired at the source or home node 30 a. When the UUV 32 a-32 n docks in its destination node, an optical network connection is made wirelessly or through a magnetic connection, as will be described in further detail below. A relatively simple network configuration includes a single UUV 32 a-32 n and a single (empty) docking station 35 a-35 n, which can form a point-to-point configuration as illustrated in FIG. 4A. Each node 30 a-30 n may be modularly expanded to include more than one UUV 32 a-32 n and associated docking stations 35 a-35 n as desired, for example, to establish redundant paths and point-to-multi-point (P2MP) connections as illustrated in FIGS. 4B and 4C. The quantity of network ports, and hence size of the node 30 a-30 n, is thus scalable.

Further technical details of exemplary nodes 30 a-30 n will now be described. With respect to each node 30 a-30 n, and more particularly, the frame 31 a-31 n of each node, the node may be conceptually similar to those used on the Triton 36000/2 Hadal Exploration System available from Triton Submarines, LLC of Sebastian, Fla.

The winch 70 of each node 30 a-30 n may be a subsea winch, for example, a MERMAC™ electrically driven winch available from MacMartney Underwater Technology of Denmark. The winch 70 advantageously controls the deployment of communications equipment and sensors by raising and lowering the deployable electronic buoy 60, for example, at pre-defined or commanded intervals, speeds, and depths by way of a cable 71. The winch 70 may operate in relatively harsh underwater environments. To accommodate the relative harsh underwater environments, the motor and control electronics, as well as the slip ring of the winch 70 may all be encapsulated, and may be manufactured from structural steel so to accommodate a depth of 500 m and 3,200 m cable capacities. In some embodiments, the winch 70 may include steel-armored and PUR jacket cables.

As described above, each winch 70 controls a respective deployable electronic buoy 60, which may be embodied as a communications and/or sensor float (FIG. 2). When the deployable electronic buoy 60 is in the form of a deployable electronic wireless communications buoy, communications can be above and below the surface 23 of the body of water 21, for example, by using a hybrid software defined radio (modem) with optical, acoustic and/or RF transceiver capability. When the deployable electronic buoy 60 is in the form of a deployable electronic sensor buoy, one or more sensors may collect information from the environment above and below the surface 23 of the body of water 21. An exemplary sensor may include a relatively small hydrophone, which can alert to unexpected activity on the surface 23 or unsafe sea conditions. In some embodiments, the deployable electronic buoy 60 may rise to the surface 23 of the body of water 21 when no activity or threat of damage is detected. Once at the surface 23 of the body of water 21, the deployable electronic buoy 60 may communicate based upon line of sight (LOS), beyond line of sight (BLOS) and satellite communications (SATCOM), for example, by using several different waveforms based upon the type of application (e.g. high-bandwidth exfiltration, command and control infiltration, LPI/LPD text messages, etc.).

Referring now briefly to FIGS. 5-6, an exemplary node 30 a′ illustratively includes four docking stations 35 a′-35 d′ for corresponding UUVs 32 a′ 32 b′. The docking stations 35 a′-35 d′ permit the UUVs 32 a, 32 b′ to enter in one direction, into a larger “fly-catcher” side. Many techniques have been used to guide a UUV into a docking station. For example, the IVER4 UUV available from L3Harris Corporation of Melbourne, Fla. has been used to successfully dock inside of 21-inch tubes or docking stations. In some embodiments, a node 30 a′ may include at least one empty docking station 35 c′, 35 d′ and at least one docking station 35 a′, 35 b′ that is equipped with a UUV. An empty docking station 35 c′, 35 d′ may provide a power and optical data path into the node 30 a′ to tie the associated link into the larger network, for example, by way of the communication circuitry 33 a′-33 n′, described above.

Foam, for example, syntactic foam 36′ may be placed in a top portion of each node 30 a′, and relatively heavy items and desired drop weights 37′ may be placed at a bottom of each node. This may advantageously permit the nodes 30 a′ to be “dropped” from the surface or another elevation above the seafloor. The nodes 30 a′ remain upright during free fall without any fins or other devices to keep them vertical.

Referring again to FIGS. 1-3, with respect to network connections, the fiber optic cabling 40 or fiber optic network connections are terminated inside each node 30 a-30 n. Optical links may couple the UUVs 32 a-32 n to the fixed connections via wireless protocol, for example, or a magnetic coupling arrangement as described in U.S. Pat. No. 9,816,856, assigned to the present assignee, and the entire contents of which are hereby incorporated by reference. Relatively small form factor protocols (SFPs) convert the fiber optic data to electrical signals inside the network media converters and connect to the network traffic via the router switches.

With respect to power sources 34 a-34 n, each power source, may use aluminum-water (Al—H2O) technology. This technology may provide a relatively safe, cost competitive, and energy dense approach for static and dynamic components. The Al—H2O technology uses aluminum as a fuel to generate electricity and produces an inert byproduct. Power modules or sources may be customized to meet desired specifications. Additional ports on the nodes 30 a-30 n accommodate external battery packs, for example.

With respect to sensors, sensors may be integrated into the nodes 30 a-30 n and/or the deployable electronic buoy 60, as described above. Sensors may include passive hydrophones or distributed fiber optic sensors to detect acoustic and seismic signatures generated by undersea and surface vehicles or environmental effects. Of course, other and/or additional sensors may be used. The sensors may cooperate with the communications circuitry 33 a-33 n and/or other processing circuitry carried by the frame 31 a-31 n of each node 30 a-30 n.

With respect to fiber optic cabling 40, the network links may include the UUV 32 a-32 n, particularly a modified IVER UUV available from L3Harris Corporation of Melbourne, Fla., and a SUSHI fiber optic cable payload, also available from L3Harris Corporation. The use of a SUSHI fiber optic payload may offer innovative features, such as, for example, low-loss silica, a standard acrylate buffer, an added buffer, a relatively high packing density, relatively high-tenacity aramid fibers, a robust jacket wall, and/or nanoparticle density modifiers. In summary, SUSHI can be customized for its desired usage based on the environment. For example, the diameter can be reduced to allow for longer link lengths; strength members can be added to increase the break strength to better withstand abrasions encountered on the seafloor; and the buoyancy can be controlled to reduce drag on the UUV during deployment.

It may be desirable to have a free-flooded payload section of the UUV 32 a-32 n equipped with precision wound cable packs. This may lend itself to a relatively easy deployment and payout. Nodes 30 a-30 n may be scaled to achieve desired cable length links.

Accordingly, the underwater communications network 20 may be particularly advantageous for its ability to be scalable and configurable in multiple pre-defined and software re-configurable topologies. For example, the underwater communications network 20 may be particularly useful for establishing a communications network between oil rigs, and does not involve dropping of cable from the back of boats. Additionally, the underwater communications network 20 connects autonomously using self-deployed and self-docking UUVs 32 a-32 n to payout and terminate node-to-node cable links on the seafloor. Moreover, as will be appreciated by those skilled in the art, to decommission the underwater communications network 20 or any node or nodes 30 a-30 n therein, their respective links may be disconnected (physically and/or electronically) between the UUV 32 a-32 n and the respective nodes (autonomously or commanded). If decommissioning is desired, the UUVs 32 a-32 n and the nodes 30 a-30 n may be disposed by electronic scuttle and cathodic corrosion.

A method aspect is directed to a method of forming an underwater communications network 20. The method includes deploying a plurality of spaced apart nodes 30 a-30 n on a bottom 22 of a body of water 21. The method includes connecting the plurality of spaced apart nodes 30 a-30 n with fiber optic cabling 40. Each node 30 a-30 n includes a frame 31 a-31 n, and an unmanned underwater vehicle (UUV) 32 a-32 n carried by the frame after delivering a fiber optic cable 40 thereto, and at least one node 31 a of the plurality of spaced apart nodes including a deployable electronic buoy 60 carried by the frame.

While several embodiments have been described herein, it should be appreciated by those skilled in the art that any element or elements from one or more embodiments may be used with any other element or elements from any other embodiment or embodiments. In other words, different embodiments or variations of nodes and UUVs may be used within the underwater communications network 20. For example, a node with a single docking station (FIGS. 1 and 2) may be used with a node with four docking stations (FIGS. 5-6).

Referring now to FIGS. 7 and 8, in another embodiment, a docking system 120, for example, may be usable with the underwater communications network 20 described above. The docking system 120 illustratively includes a first device 132 a and a second device 132 b. The second device 132 b is movable relative to the first device 132 a. The first device 132 a may be in the form of or include an optical cable storage device, for example.

The second device 132 b may be in the form of an underwater vehicle, for example, an unmanned underwater vehicle. The second device 132 b may alternatively be in the form of a space vehicle. The second device 132 b may be in the form of a terrestrial vehicle. The second device 132 b may also be in the form of an airborne vehicle. The second device 132 b may be in the form of or include an optical cable storage device.

The first device 132 a includes a docking station 135 a, for example, for receipt of the second device 132 b therein or thereat, depending on the form of the second device. The first device 132 a also includes a first optical transceiver 138 a. The first optical transceiver 138 a may be a first laser transceiver for example, a first vertical cavity surface emitting laser (VCSEL). The first optical transceiver 138 a may operate in the blue or blue-green color spectrum. In some embodiments, for example, terrestrial and/or aerial, the first optical transceiver 138 a may operate in a range of wavelengths, for example, just outside of the visible spectrum (e.g., 900-2000 nm). This may increase the difficulty in detection, which may be desirable in certain operations or applications, as will be understood by those skilled in the art.

The first device 132 a may also include a first controller 150 a that operates the first optical transceiver 138 a to receive an optical beacon signal 152 and generate and transmit an optical guidance data signal 153 based on the optical beacon signal. The optical guidance data signal 153 may be for directing, controlling, or for steering the second device 132 b, as will be described in further detail below. The first controller 150 a may determine a one or more of a range, a bearing, a velocity, a roll, and a pitch of the second device 132 b. The first controller 150 a may thus generate the optical guidance data signal 153 based upon any one of the range, the bearing, the velocity, the roll, and the pitch of the second device 132 b, as will be appreciated by those skilled in the art.

The second device 132 b illustratively includes a propulsion system 155 b. The propulsion system 155 b may include different hardware or configurations depending on the application or type of device or vehicle that is the second device 132 b. For example, when the second device 132 b is in the form of an underwater vehicle, the propulsion system 155 b may include a propeller or impeller, rudder, and power plant (e.g., driveshaft, and battery or engine). When the second device 132 b is in the form of a space vehicle, the propulsion system 155 b may include rockets, rocket boosters, and/or other spaced-based propulsion components, as will be appreciated by those skilled in the art. When the second device 132 b is in the form of a terrestrial vehicle, the propulsion system 155 b may include an engine or battery, driveshaft, and wheels or tracks, for example. For an airborne vehicle, the propulsion system 155 b may include an engine or batteries, a driveshaft, and one or more propellers or turbofans (vertically or horizontally oriented), for example. Of course, other components or combination of components may be used to define the propulsion system 155 b.

The second device 132 b also includes a second optical transceiver 138 b. Similarly to the first optical transceiver 138 a, the second optical transceiver 138 b may be a second laser transceiver for example, a second vertical cavity surface emitting laser (VCSEL). The second optical transceiver 138 b may operate in the blue or blue-green color spectrum. In some embodiments, for example, terrestrial and/or aerial, the second optical transceiver 138 b may operate in a range of wavelengths, for example, just outside of the visible spectrum (e.g., 900-2000 nm).

The second optical transceiver 138 b transmits the optical beacon signal 152 toward the first optical transceiver 138 a. The second optical transceiver 138 b also receives the optical guidance data signal 153 from the first optical transceiver 138 a.

The second device 132 b also includes a second controller 150 b that operates the propulsion system 155 b to dock the second device to the docking station 135 a of the first device 132 a. More particularly, the second controller 150 b selectively operates the propulsion system 155 b based upon the optical guidance data signal 153 so that the second device is guided to or into the docking station 135 a.

In some embodiments, the second device 132 b may include a long-range navigation device 139 b, for example, along the lines of the long-range navigation device described above. The long-range navigation device 139 b is coupled to the second controller 150 b, which operates the propulsion system 155 b based upon the long-range navigation device. In other words, the long-range navigation device 139 b operates the propulsion system 155 b to move the second device 132 b along a navigational route until it becomes in range of communication between the first and second optical transceivers 138 a, 138 b. Once in range, the second controller 150 b operates the propulsion system 155 b to dock the second device 132 b at the docking station 135 a. Of course, the long-range navigation device 139 b may work in conjunction with the first and second optical transceivers 138 a, 138 b to dock the second device 132 b at the docking station 135 a.

Those skilled in the art will appreciate that the long-range navigation system 139 b may include global positioning system (GPS) receivers, RF receivers, accelerometers, and/or devices, for example, and include an inertial navigation system (INS).

As will be appreciated by those skilled in the art, the first and second optical transceivers 138 a, 138 b are advantageously used for both imaging and communications. That is, the first and second optical transceivers 138 a, 138 b communicate therebetween optical beacon signals 152 (imaging) and optical guidance data signals 153 (communications).

The docking system 120 that includes the second device 132 b in the form of an airborne vehicle, may be advantageous for assisting a drone landing on a platform at sea (ship, buoy, etc.), refueling aircraft with another aircraft (drone applications), unmanned aerial vehicle (UAV)-to-UAV avoidance or wireless tethering for specialized formation flying, for example. The docking system 120 that includes the second device 132 b in the form of a terrestrial vehicle, may assist in robot, refueling ships at sea with another vessel (e.g., drone applications), and in automotive industry for self-docking or self-parking vehicles, for example.

When the docking system 120 includes the second device 132 b in the form of a space vehicle, the docking system may assist in the docking of spacecraft (vehicle) docking into a space station, spacecraft (vehicle) servicing a satellite, a lander releasing vehicle drones to investigate planetary surface (e.g., Mars rovers) and the drones navigating back to the lander. The docking system 120 that includes a space vehicle may also be advantageous for satellite-to-satellite avoidance or wireless tethering for specialized formation flying, for example.

Those skilled in the art will appreciate that when the docking system 120 includes the second device 132 b in the form of an underwater vehicle, the docking system may be particularly advantageous for docking into spaced apart nodes, as described above, docking into a docking station or bay on another vehicle (e.g., UUV onto a submarine, or ROV onto a submarine bay). The second vehicle 132 b in the form of an underwater vehicle may also be advantageous in offshore oil and gas operations, for example, for servicing oil and gas infrastructure. The second vehicle 132 b in the form of an underwater vehicle may also be advantageous for USV-to-USV or AUV-to-AUV tethering for strategic formation, and/or USV-to-AUV situational awareness navigating in relatively tight areas around structures, for example.

Referring now additionally to FIG. 9, further details of the docking system 120′ as it relates an undersea application will now be described. The docking system 120′ uses the first and second optical transceivers 138 a′, 138 b′ as an optical modem pair. It may desirable, however, to includes additional photon collectors adjacent the docking station, for example, three, for homing and docking functionality to remotely guide the second device 132 b′ in the form of an incoming undersea vehicle into a docking station of the first device 132 a′. The docking system 120′ does not rely on an imaging lens to determine range and bearing of the incoming vehicle (i.e., second device). Instead the rising edge or phase shift of an expanding optical wavefront generated with a light emitting diode (LED) or photo acoustic tomography (PAT)-capable laser-based optical communications modem (i.e., the second optical transceiver 138 b′) is detected. Such a self-radiating optical beacon 152′ may operate over at least 16 one-way diffuse beam attenuation lengths (up to 300 meters in the clear coastal ocean) versus 2-3 one-way diffuse attenuation lengths with a camera method, and 5-6 one-way attenuation lengths with a LiDAR.

The docking system 120′ processing is based upon multi-lateration, which is also referred to as hyperbolic positioning. This technique uses multiple spatially separated transmitters or receivers to estimate the position of one receiver or transmitter (i.e., GPS). This is done by calculating the time difference of arrival (TDOA) from the time of arrival (TOA) of each transmitter to the receiver or from the transmitter to each receiver and computing the position using the hyperbolic method described by Bucher et al., as will be appreciated by those skilled in the art.

For a 3D positioning system, at least four receivers may be desirable to reduce ambiguities and improve accuracy. The most common methods to measure TOA are direct time of flight (TOF) measurements and extraction of relative TOA from the phase of a continuous sinusoidal signal. To measure TOF directly, a short pulse may be used, and the difference in arrival times is used to determine TOA. When a continuous sinusoidal waveform is used for the transmitter, the relative TOA can be extracted from the detected phase difference of two synchronized signals (i.e. two receivers observing the same signal).

In similar applications, an array detector (i.e., a camera) and structured illumination (i.e., a laser line or grid of laser dots) may be used to estimate both the range and azimuthal/elevation angles to the moving target. However, due to multiple scattering effects that occur over multiple scattering lengths in typical coastal conditions, camera or flash-LiDAR based systems generally do not provide effective performance over the wide range of conditions typically encountered. The use of pulsed or modulated laser source waveforms, combined with a small array of single element detectors with non-imaging optics (i.e. bucket collectors that are used for optical modems)—such as described herein with respect to the docking system 120′, may provide useful data through a wider range of conditions and also simplifies the calibration process, measurement setup, and reduces the amount of data to be collected compared to the use of multiple structured lighting cameras or flash-LiDAR imagers and their associated high speed image/video processing algorithms. In some embodiments, the docking system 120′ may use orbital angular momentum beams to better discriminate direct (ballistic) light through the many scattering lengths, as will be appreciated by those skilled in the art.

As described above, and with respect to an embodiment where the second device 132 b′ is in the form of a UUV, the UUV transmits, via the second optical transceiver 138 b′, the optical beacon signal 152′ in a direction of a known docking station on a first device 132 a′. Each receiver element of an array thereof of the first optical transceiver 138 a′ detects the optical beacon signal 152′, which is directional. The first transceiver 138 a′ or first optical modem, as described above, illustratively includes three additional receivers 158 a′ that are configured or positioned to define a triangle.

The second controller based upon a TDOA, computes the range and bearing (both elevation and azimuthal bearing). The first optical transceiver 138 a′ transmits to the UUV, or second device 132 b′, the relative displacement and suggested waypoints.

A method aspect is directed to a method of docking a second device 132 b moveable relative to a first device 132 a. The method includes using a first controller 150 a of the first device 132 a to operate a first optical transceiver 138 a of the first device to receive an optical beacon signal 152, and generate and transmit an optical guidance data signal 153 based on the optical beacon signal. The method also includes using a second controller 150 b of the second device 132 b to cooperate with a second optical transceiver 138 b of the second device to transmit the optical beacon signal 152 toward the first optical transceiver 138 a and receive the optical guidance data signal 153 from the first optical transceiver, and operate a propulsion system 155 b of the second device based upon the optical guidance data signal to dock the second device to a docking station 135 a of the first device 132 a.

Many modifications and other embodiments of the invention will come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is understood that the invention is not to be limited to the specific embodiments disclosed, and that modifications and embodiments are intended to be included within the scope of the appended claims. 

That which is claimed is:
 1. A docking system comprising: a first device and a second device moveable relative to said first device, said first device comprising a docking station, a first optical transceiver, and a first controller configured to operate said first optical transceiver to receive an optical beacon signal, and generate and transmit an optical guidance data signal based on the optical beacon signal; said second device comprising a propulsion system, a long-range navigation device, a second optical transceiver configured to transmit the optical beacon signal toward the first optical transceiver and receive the optical guidance data signal from said first optical transceiver, and a second controller configured to operate said propulsion system based upon the long-range navigation device and the optical guidance data signal to dock said second device to said docking station of said first device.
 2. The docking system of claim 1 wherein said first controller is configured to determine at least one of a range, a bearing, a velocity, a roll, and a pitch of said second device and generate the optical guidance data signal based thereon.
 3. The docking system of claim 1 wherein said long-range navigation device comprises an inertial navigation system (INS).
 4. The docking system of claim 1 wherein at least one of said first and second devices comprises an optical cable storage device.
 5. The docking system of claim 1 wherein said first and second optical transceivers comprise first and second laser transceivers.
 6. The docking system of claim 5 wherein said first and second laser transceivers comprise first and second vertical cavity surface emitting laser transceivers.
 7. The docking system of claim 1 wherein said second device comprises an underwater vehicle.
 8. The docking system of claim 1 wherein said second device comprises a space vehicle.
 9. The docking system of claim 1 wherein said second device comprises a terrestrial vehicle.
 10. The docking system of claim 1 wherein said second device comprises an airborne vehicle.
 11. A second device for a docking system, the second device moveable relative to a first device, the second device comprising: a propulsion system; a long-range navigation device; a second optical transceiver configured to transmit an optical beacon signal toward a first optical transceiver of the first device and receive an optical guidance data signal based upon the optical beacon signal from the first optical transceiver; and a second controller configured to operate said propulsion system based upon the long-range navigation device and the optical guidance data signal to dock the second device to a docking station of the first device.
 12. The second device of claim 11 wherein said long-range navigation device comprises an inertial navigation system (INS).
 13. The second device of claim 11 wherein said first and second optical transceivers comprise first and second laser transceivers.
 14. The second device of claim 11 wherein said second device comprises one of an underwater vehicle, a space vehicle, a terrestrial vehicle, and an airborne vehicle.
 15. A docking system comprising: a first device and a second device moveable relative to said first device, at least one of said first and second devices comprising an optical cable storage device, said first device comprising a docking station, a first optical transceiver, and a first controller configured to operate said first optical transceiver to receive an optical beacon signal, and generate and transmit an optical guidance data signal based on the optical beacon signal; said second device comprising a propulsion system, a second optical transceiver configured to transmit the optical beacon signal toward the first optical transceiver and receive the optical guidance data signal from said first optical transceiver, and a second controller configured to operate said propulsion system based upon the optical guidance data signal to dock said second device to said docking station of said first device.
 16. The docking system of claim 15 wherein said first controller is configured to determine at least one of a range, a bearing, a velocity, a roll, and a pitch of said second device and generate the optical guidance data signal based thereon.
 17. The docking system of claim 15 wherein said first and second optical transceivers comprise first and second laser transceivers.
 18. The docking system of claim 17 wherein said first and second laser transceivers comprise first and second vertical cavity surface emitting laser transceivers.
 19. The docking system of claim 15 wherein said second device comprises an underwater vehicle. 